I would like to use a tool made by myself, I have the stl part but I don’t really know where do I have to begin to implement it and add it as the end_effector in ROS.
In fact I want to pilot a specific point on my tool so the orders given to Niryo will pilot this specific point and not the hand point.
I guess the best thing is to add it in xacro files so the kinematics will be calculated considering my tool but I also guess it’s not as simple as that ?
Hope someone has an answer or a method for that It might be helpful for makers
For simplification problems we haven’t included the tools in the arm URDF. The TCP (Tool Center Point) is the same – end of the arm – whether you add a tool or not. (for more info on why we did that, check out this issue on GitHub).
Now, to control the tool, you can either:
– Use Dynamixel XL-320 motor on your tool and configure it with this guide.
– Or power your tool with a GPIO (5V) or SW (12V) at the back of the robot. You’ll then have to actuate the IOs of the robot to make the tool work (very similar to what’s happening with real industrial robots)